钱平,张永,徐街明

• 1:浙江科技学院
• 2:国网浙江省电力有限公司

摘要(Abstract)：

传统的变电站巡检主要是人工巡检,工作量繁多且不能实时检测到系统的反常和障碍,使得巡检存在漏检和效率低的问题。因此提出智能电网巡检机器人终端视觉巡检方法,使用3×3邻域的边缘检测算法,提取引导线的边缘特征点,依据边缘特征点通过隔10行扫描获取指定行像素的中点,得到引导线中心线,采用优化的行列联合搜索算法获取循迹图片中心线,使用"区域均衡"判别算法对图像进行判别,得到最佳引导线。依据最佳引导线采用智能电网巡检机器人终端视觉巡检控制系统,实现智能电网巡检机器人终端视觉巡检。实验结果表明,利用所提方法进行巡检控制的成功率在93%以上,具有高效率、抗干扰的优势。

关键词(KeyWords)： 智能电网;巡检机器人;视觉巡检;引导线;中心线;行列联合搜索

Abstract:

Keywords:

基金项目(Foundation): 浙江省电力公司科技基金(ZB12-043B)~~

作者(Author): 钱平,张永,徐街明

DOI: 10.16652/j.issn.1004-373x.2018.18.026

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